Robot-Forming - An Incremental Forming Process Using an Industrial Robot by Means of DELMIA Software Package

摘要

The purpose of this research is to present an alternative method for manufacturing sheet metal parts using an asymmetric incremental forming process by means of an industrial robot. This method is based on designing, simulating and generating the toolpath for the tool attached to the robot using DELMIA software package. The proposed approach allows users to check for system collisions, robot joins limitations and singularity problems. After a comprehensive simulation of the movements of the robot is performed, the program code can be generated by means of a specific DELMIA function. The program can be used afterwards to control the robot during the experimental work. In order to demonstrate the capabilities of robot-forming, a truncated pyramid sheet metal part was manufactured using a custom made stand and with the help of a KUKA KR6 anthropomorphic robot.